<style type="text/css">
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    .tg .tg-pht7{border-color:inherit;font-family:"Times New Roman", Times, serif !important;font-size:12px;text-align:center;
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    .tg .tg-zp53{border-color:inherit;font-family:"Times New Roman", Times, serif !important;font-size:12px;text-align:left;
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    .tg .tg-37c6{border-color:inherit;font-family:"Times New Roman", Times, serif !important;font-size:12px;font-weight:bold;
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    </style>
    <table class="tg">
    <thead>
      <tr>
        <th class="tg-pht7" rowspan="3"></th>
        <th class="tg-pht7" colspan="4">Open Door</th>
        <th class="tg-pht7" colspan="4">Pull Drawer</th>
        <th class="tg-pht7" colspan="4">Close Door</th>
        <th class="tg-pht7" colspan="4">Push Drawer</th>
        <th class="tg-pht7" colspan="4">Push Stapler</th>
        <th class="tg-pht7" colspan="4">Open Pot Lid</th>
      </tr>
      <tr>
        <th class="tg-pht7" colspan="2">ASR</th>
        <th class="tg-pht7" colspan="2">MP</th>
        <th class="tg-pht7" colspan="2">ASR</th>
        <th class="tg-pht7" colspan="2">MP</th>
        <th class="tg-pht7" colspan="2">ASR</th>
        <th class="tg-pht7" colspan="2">MP</th>
        <th class="tg-pht7" colspan="2">ASR</th>
        <th class="tg-pht7" colspan="2">MP</th>
        <th class="tg-pht7" colspan="2">ASR</th>
        <th class="tg-pht7" colspan="2">MP</th>
        <th class="tg-pht7" colspan="2">ASR</th>
        <th class="tg-pht7" colspan="2">MP</th>
      </tr>
      <tr>
        <th class="tg-pht7">train</th>
        <th class="tg-pht7">test</th>
        <th class="tg-pht7">train</th>
        <th class="tg-pht7">test</th>
        <th class="tg-pht7">train</th>
        <th class="tg-pht7">test</th>
        <th class="tg-pht7">train</th>
        <th class="tg-pht7">test</th>
        <th class="tg-pht7">train</th>
        <th class="tg-pht7">test</th>
        <th class="tg-pht7">train</th>
        <th class="tg-pht7">test</th>
        <th class="tg-pht7">train</th>
        <th class="tg-pht7">test</th>
        <th class="tg-pht7">train</th>
        <th class="tg-pht7">test</th>
        <th class="tg-pht7">train</th>
        <th class="tg-pht7">test</th>
        <th class="tg-pht7">train</th>
        <th class="tg-pht7">test</th>
        <th class="tg-pht7">train</th>
        <th class="tg-pht7">test</th>
        <th class="tg-pht7">train</th>
        <th class="tg-pht7">test</th>
      </tr>
    </thead>
    <tbody>
      <tr>
        <td class="tg-pht7">Where2act</td>
        <td class="tg-pht7">22.8<sub>0.3</sub></td>
        <td class="tg-pht7">14.1<sub>0.2</sub></td>
        <td class="tg-pht7">6.8<sub>2.1</sub></td>
        <td class="tg-pht7">8.3 <sub>3.3</sub></td>
        <td class="tg-pht7">19.0<sub>0.3</sub></td>
        <td class="tg-pht7">12.9<sub>0.4</sub></td>
        <td class="tg-pht7">2.3<sub>0.0</sub></td>
        <td class="tg-pht7">0.0<sub>0.0</sub></td>
        <td class="tg-pht7">61.6<sub>7.2</sub></td>
        <td class="tg-pht7">49.6<sub>4.3</sub></td>
        <td class="tg-pht7">45.2<sub>3.4</sub></td>
        <td class="tg-pht7">27.0<sub>4.5</sub></td>
        <td class="tg-pht7">32.2<sub>3.8</sub></td>
        <td class="tg-pht7">21.6<sub>2.0</sub></td>
        <td class="tg-pht7">15.1<sub>4.0</sub></td>
        <td class="tg-pht7">20.0<sub>0.0</sub></td>
        <td class="tg-zp53">16.4<sub>0.0</sub></td>
        <td class="tg-zp53">14.4<sub>0.4</sub></td>
        <td class="tg-zp53">13.0<sub>0.9</sub></td>
        <td class="tg-zp53">13.0<sub>2.4</sub></td>
        <td class="tg-zp53">10.5<sub>3.0</sub></td>
        <td class="tg-zp53">5.4<sub>0.0</sub></td>
        <td class="tg-zp53">8.7<sub>0.9</sub></td>
        <td class="tg-zp53">4.3<sub>0.6</sub></td>
      </tr>
      <tr>
        <td class="tg-pht7">VAT-Mart</td>
        <td class="tg-pht7">23.2<sub>5.7</sub></td>
        <td class="tg-pht7">21.9<sub>9.2</sub></td>
        <td class="tg-pht7">31.8<sub>4.1</sub></td>
        <td class="tg-pht7">33.3<sub>4.4</sub></td>
        <td class="tg-pht7">5.5<sub>0.0</sub></td>
        <td class="tg-pht7">5.1<sub>0.0</sub></td>
        <td class="tg-pht7">0.0<sub>0.0</sub></td>
        <td class="tg-pht7">0.0<sub>0.0</sub></td>
        <td class="tg-pht7">69.9<sub>9.8</sub></td>
        <td class="tg-pht7">43.6<sub>10.2</sub></td>
        <td class="tg-pht7">39.3<sub>7.7</sub></td>
        <td class="tg-pht7">25.8<sub>6.3</sub></td>
        <td class="tg-pht7">52.3<sub>10.3</sub></td>
        <td class="tg-pht7">36.3<sub>10.6</sub></td>
        <td class="tg-pht7">32.2<sub>17.2</sub></td>
        <td class="tg-pht7">11.9<sub>3.2</sub></td>
        <td class="tg-zp53">21.9<sub>3.4</sub></td>
        <td class="tg-zp53">20.9<sub>7.3</sub></td>
        <td class="tg-zp53">17.4<sub>2.9</sub></td>
        <td class="tg-zp53">13.0<sub>3.6</sub></td>
        <td class="tg-zp53">27.4<sub>7.4</sub></td>
        <td class="tg-zp53">21.5<sub>11.6</sub></td>
        <td class="tg-zp53">17.4<sub>3.4</sub></td>
        <td class="tg-zp53">17.4<sub>4.9</sub></td>
      </tr>
      <tr>
        <td class="tg-pht7">Multi-task RL</td>
        <td class="tg-pht7">18.7<sub>5.6</sub></td>
        <td class="tg-pht7">5.1<sub>0.5</sub></td>
        <td class="tg-pht7">19.9<sub>4.8</sub></td>
        <td class="tg-pht7">0.0<sub>0.0</sub></td>
        <td class="tg-pht7">1.5<sub>0.8</sub></td>
        <td class="tg-pht7">0.1<sub>0.0</sub></td>
        <td class="tg-pht7">2.3<sub>0.0</sub></td>
        <td class="tg-pht7">0.0<sub>0.0</sub></td>
        <td class="tg-pht7">71.7<sub>18.9</sub></td>
        <td class="tg-pht7">84.0<sub>11.7</sub></td>
        <td class="tg-pht7">70.5<sub>0.0</sub></td>
        <td class="tg-pht7">83.3<sub>0.0</sub></td>
        <td class="tg-37c6">98.8<sub>0.1</sub></td>
        <td class="tg-37c6">99.7<sub>0.0</sub></td>
        <td class="tg-37c6">100.0<sub>0.0</sub></td>
        <td class="tg-37c6">100.0<sub>0.0</sub></td>
        <td class="tg-zp53">34.9<sub>8.3</sub></td>
        <td class="tg-zp53">30.2<sub>9.4</sub></td>
        <td class="tg-zp53">30.4<sub>1.0</sub></td>
        <td class="tg-zp53">26.1<sub>1.8</sub></td>
        <td class="tg-zp53">35.2<sub>5.1</sub></td>
        <td class="tg-zp53">32.6<sub>5.7</sub></td>
        <td class="tg-zp53">21.7<sub>1.0</sub></td>
        <td class="tg-zp53">17.3<sub>2.1</sub></td>
      </tr>
      <tr>
        <td class="tg-pht7">RL</td>
        <td class="tg-pht7">21.5<sub>9.7</sub></td>
        <td class="tg-pht7">5.5<sub>1.0</sub></td>
        <td class="tg-pht7">23.3<sub>1.0</sub></td>
        <td class="tg-pht7">0.0<sub>0.0</sub></td>
        <td class="tg-pht7">23.1<sub>8.8</sub></td>
        <td class="tg-pht7">22.4<sub>9.6</sub></td>
        <td class="tg-pht7">19.6<sub>1.7</sub></td>
        <td class="tg-pht7">19.5<sub>0.7</sub></td>
        <td class="tg-pht7">98.6<sub>0.3</sub></td>
        <td class="tg-pht7">86.9<sub>7.2</sub></td>
        <td class="tg-pht7">99.7<sub>0.2</sub></td>
        <td class="tg-pht7">91.7<sub>0.0</sub></td>
        <td class="tg-pht7">97.2<sub>0.9</sub></td>
        <td class="tg-pht7">98.4<sub>0.1</sub></td>
        <td class="tg-pht7">99.1<sub>0.5</sub></td>
        <td class="tg-37c6">100.0<sub>0.0</sub></td>
        <td class="tg-zp53">45.5<sub>14.4</sub></td>
        <td class="tg-zp53">40.6<sub>11.6</sub></td>
        <td class="tg-zp53">34.8<sub>1.0</sub></td>
        <td class="tg-zp53">30.4<sub>2.0</sub></td>
        <td class="tg-zp53">32.5<sub>5.1</sub></td>
        <td class="tg-zp53">28.6<sub>4.1</sub></td>
        <td class="tg-zp53">21.7<sub>1.1</sub></td>
        <td class="tg-zp53">21.7<sub>5.3</sub></td>
      </tr>
      <tr>
        <td class="tg-pht7">RL+Where2act</td>
        <td class="tg-pht7">20.5<sub>8.8</sub></td>
        <td class="tg-pht7">8.0<sub>3.2</sub></td>
        <td class="tg-pht7">19.3<sub>1.6</sub></td>
        <td class="tg-pht7">9.4<sub>3.5</sub></td>
        <td class="tg-pht7">25.2<sub>6.7</sub></td>
        <td class="tg-pht7">22.2<sub>5.1</sub></td>
        <td class="tg-pht7">24.4<sub>4.8</sub></td>
        <td class="tg-pht7">21.9<sub>6.4</sub></td>
        <td class="tg-pht7">96.4<sub>1.6</sub></td>
        <td class="tg-pht7">97.9<sub>0.1</sub></td>
        <td class="tg-pht7">97.2<sub>1.1</sub></td>
        <td class="tg-37c6">100.0<sub>0.0</sub></td>
        <td class="tg-pht7">89.7<sub>3.3</sub></td>
        <td class="tg-pht7">90.1<sub>6.2</sub></td>
        <td class="tg-pht7">94.3<sub>1.8</sub></td>
        <td class="tg-pht7">88.3<sub>0.7</sub></td>
        <td class="tg-zp53">48.9<sub>8.</sub></td>
        <td class="tg-zp53">45.2<sub>7.2</sub></td>
        <td class="tg-zp53">39.1<sub>1.0</sub></td>
        <td class="tg-zp53">34.8<sub>1.8</sub></td>
        <td class="tg-zp53">38.2<sub>5.8</sub></td>
        <td class="tg-zp53">30.6<sub>3.4</sub></td>
        <td class="tg-zp53">26.1<sub>1.5</sub></td>
        <td class="tg-zp53">21.7<sub>6.4</sub></td>
      </tr>
      <tr>
        <td class="tg-37c6">Ours</td>
        <td class="tg-37c6">52.9<sub>14.9</sub></td>
        <td class="tg-37c6">32.6<sub>13.1</sub></td>
        <td class="tg-37c6">61.4<sub>3.1</sub></td>
        <td class="tg-37c6">38.5<sub>3.8</sub></td>
        <td class="tg-pht7">59.7<sub>14.7</sub></td>
        <td class="tg-37c6">59.6<sub>13.5</sub></td>
        <td class="tg-pht7">62.8<sub>2.5</sub></td>
        <td class="tg-37c6">63.3<sub>0.7</sub></td>
        <td class="tg-37c6">99.9<sub>0.0</sub></td>
        <td class="tg-37c6">99.1<sub>0.1</sub></td>
        <td class="tg-37c6">100.0<sub>0.0</sub></td>
        <td class="tg-37c6">100.0<sub>0.0</sub></td>
        <td class="tg-pht7">97.7<sub>0.5</sub></td>
        <td class="tg-pht7">98.6<sub>0.1</sub></td>
        <td class="tg-37c6">100.0<sub>0.0</sub></td>
        <td class="tg-37c6">100.0<sub>0.0</sub></td>
        <td class="tg-i7q0">69.5<sub>8.4</sub></td>
        <td class="tg-i7q0">53.2<sub>8.6</sub></td>
        <td class="tg-i7q0">47.8<sub>8.9</sub></td>
        <td class="tg-i7q0">39.1<sub>1.5</sub></td>
        <td class="tg-i7q0">49.5<sub>9.6</sub></td>
        <td class="tg-i7q0">44.6<sub>9.5</sub></td>
        <td class="tg-i7q0">34.8<sub>0.9</sub></td>
        <td class="tg-i7q0">30.4<sub>2.0</sub></td>
      </tr>
      <tr>
        <td class="tg-pht7">Ours w/o MPO</td>
        <td class="tg-pht7">48.0<sub>11.4</sub></td>
        <td class="tg-pht7">23.8<sub>7.3</sub></td>
        <td class="tg-pht7">54.0<sub>5.1</sub></td>
        <td class="tg-pht7">18.8<sub>1.8</sub></td>
        <td class="tg-pht7">41.9<sub>14.9</sub></td>
        <td class="tg-pht7">42.5<sub>12.2</sub></td>
        <td class="tg-pht7">40.3<sub>1.8</sub></td>
        <td class="tg-pht7">46.9<sub>4.3</sub></td>
        <td class="tg-pht7">59.9<sub>14.4</sub></td>
        <td class="tg-pht7">68.7<sub>12.5</sub></td>
        <td class="tg-pht7">60.3<sub>2.8</sub></td>
        <td class="tg-pht7">65.6<sub>3.8</sub></td>
        <td class="tg-pht7">90.3<sub>3.8</sub></td>
        <td class="tg-pht7">90.7<sub>4.3</sub></td>
        <td class="tg-pht7">92.9<sub>2.5</sub></td>
        <td class="tg-pht7">89.1<sub>1.4</sub></td>
        <td class="tg-zp53">60.6<sub>10.1</sub></td>
        <td class="tg-zp53">52.5<sub>8.6</sub></td>
        <td class="tg-zp53">43.5<sub>1.0</sub></td>
        <td class="tg-zp53">39.1<sub>1.8</sub></td>
        <td class="tg-zp53">44.2<sub>7.3</sub></td>
        <td class="tg-zp53">40.7<sub>8.2</sub></td>
        <td class="tg-i7q0">34.8<sub>0.3</sub></td>
        <td class="tg-i7q0">30.4<sub>0.6</sub></td>
      </tr>
      <tr>
        <td class="tg-pht7">Ours w/o MPR</td>
        <td class="tg-pht7">28.2<sub>12.5</sub></td>
        <td class="tg-pht7">6.4<sub>2.2</sub></td>
        <td class="tg-pht7">29.8<sub>1.3</sub></td>
        <td class="tg-pht7">5.2<sub>2.0</sub></td>
        <td class="tg-37c6">62.3<sub>13.8</sub></td>
        <td class="tg-pht7">44.0<sub>14.2</sub></td>
        <td class="tg-37c6">67.0<sub>2.6</sub></td>
        <td class="tg-pht7">46.1<sub>6.3</sub></td>
        <td class="tg-pht7">98.0<sub>0.2</sub></td>
        <td class="tg-pht7">88.5<sub>6.7</sub></td>
        <td class="tg-37c6">100.0<sub>0.0</sub></td>
        <td class="tg-pht7">91.7<sub>0.0</sub></td>
        <td class="tg-pht7">95.1<sub>4.3</sub></td>
        <td class="tg-pht7">76.6<sub>16.5</sub></td>
        <td class="tg-pht7">95.5<sub>0.0</sub></td>
        <td class="tg-pht7">75.0<sub>0.0</sub></td>
        <td class="tg-zp53">50.8<sub>8.8</sub></td>
        <td class="tg-zp53">39.9<sub>11.5</sub></td>
        <td class="tg-zp53">39.1<sub>0.9</sub></td>
        <td class="tg-zp53">30.4<sub>2.0</sub></td>
        <td class="tg-zp53">44.8<sub>7.1</sub></td>
        <td class="tg-zp53">40.1<sub>8.5</sub></td>
        <td class="tg-zp53">30.4<sub>0.5</sub></td>
        <td class="tg-zp53">26.1<sub>1.5</sub></td>
      </tr>
      <tr>
        <td class="tg-pht7">Ours w/o E2E</td>
        <td class="tg-pht7">21.2<sub>9.2</sub></td>
        <td class="tg-pht7">12.4<sub>3.1</sub></td>
        <td class="tg-pht7">19.9<sub>1.8</sub></td>
        <td class="tg-pht7">5.2<sub>2.0</sub></td>
        <td class="tg-pht7">57.7<sub>12.7</sub></td>
        <td class="tg-pht7">57.3<sub>14.6</sub></td>
        <td class="tg-pht7">61.1<sub>3.2</sub></td>
        <td class="tg-pht7">61.7<sub>0.7</sub></td>
        <td class="tg-pht7">97.2<sub>0.6</sub></td>
        <td class="tg-pht7">90.8<sub>7.5</sub></td>
        <td class="tg-37c6">100.0<sub>0.0</sub></td>
        <td class="tg-pht7">91.7<sub>0.0</sub></td>
        <td class="tg-pht7">89.2<sub>7.3</sub></td>
        <td class="tg-pht7">96.9<sub>4.5</sub></td>
        <td class="tg-pht7">90.1<sub>0.8</sub></td>
        <td class="tg-37c6">100.0<sub>0.0</sub></td>
        <td class="tg-zp53">40.2<sub>7.8</sub></td>
        <td class="tg-zp53">36.6<sub>8.4</sub></td>
        <td class="tg-zp53">39.1<sub>1.0</sub></td>
        <td class="tg-zp53">34.8<sub>1.8</sub></td>
        <td class="tg-zp53">32.1<sub>6.3</sub></td>
        <td class="tg-zp53">30.6<sub>6.0</sub></td>
        <td class="tg-zp53">30.4<sub>1.5</sub></td>
        <td class="tg-zp53">26.1<sub>2.9</sub></td>
      </tr>
    </tbody>
    </table>